Label guidance-based unmanned aerial vehicle inspection system in substation switch room

Abstract

The invention discloses an unmanned aerial vehicle inspection system in a transformer substation switch room based on label guidance, which comprises an unmanned aerial vehicle, a ground station and a plurality of labels, and is characterized in that switch cabinets in the transformer substation switch room are continuously distributed in a row, and a uniquely matched label is pasted on a shell of each switch cabinet; each label has a unique recognizable number and serves as an inspection point of a switch cabinet. According to the label guidance-based unmanned aerial vehicle inspection system in the transformer substation switch room, the unmanned aerial vehicle, the ground station and the labels are linked, the labels are pasted on the switch cabinet, then one-by-one inspection is carried out through the unmanned aerial vehicle according to the label sequence, and image acquisition is carried out; and the ground station judges whether the state of the switch cabinet is changed by comparing historical data, and alarms if the state is changed.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle inspection in a substation switch room, and in particular relates to a unmanned aerial vehicle inspection system in a substation switch room based on tag guidance. Background Art

[0002] Drone inspection of substation switch rooms is an automated inspection method that uses drone technology. It uses drones equipped with high-definition cameras, infrared thermal imagers and other equipment to conduct aerial inspections and inspections of equipment in substations.

[0003] Prior art 1, application number: CN202211686384.8:

[0004] The present invention provides a substation indoor inspection method, device, drone and storage medium, comprising: obtaining a first substation indoor image collected by a downward image acquisition device; wherein the content of the first substation indoor image at least includes a two-dimensional code image; based on the two-dimensional code image in the first substation indoor image, determining the positioning data of the drone in the substation indoor scene; controlling the drone to perform a flight mission according to a preset inspection route and positioning data; in the process of performing the flight mission, obtaining a second substation indoor image collected by a front image acquisition device, and determining the operating status of the equipment cabinet based on the second substation indoor image; wherein the content of the second substation indoor image at least includes the equipment cabinet. The present invention can significantly reduce the human resources required for inspecting the operating status of each equipment cabinet in the substation room, and can also effectively improve the inspection efficiency and inspection reliability.

[0005] Prior art 2, application number: CN202410069830.3:

[0006] The present invention discloses an automatic inspection system and method for indoor substations using unmanned aerial vehicles, which comprises the following steps: the unmanned aerial vehicle flies indoors where a substation is installed, and obtains an indoor environment image during the flight, and constructs an indoor map according to the indoor environment image; generates an indoor inspection path according to the indoor local map and / or indoor global map, and the photographing points of the power devices of the indoor substation, and sets a photographing program for the unmanned aerial vehicle at each photographing point; and the unmanned aerial vehicle flies along the indoor inspection path, and obtains an image of the power device at each photographing point according to the photographing program corresponding to the photographing point, and detects the power device according to the image, so as to complete the inspection of the indoor substation. The present invention can enable the unmanned aerial vehicle to adapt to complex indoor environments, without being restricted by vision and positioning, and realizes accurate inspection of indoor substations in combination with high-precision maps.

[0007] Prior art 3, application number: CN202410494741.3:

[0008] The present invention discloses an autonomous flight inspection method for an indoor substation GIS room by a drone. The inspection route set in sections by a UWB positioning system and the blocking and unlocking can avoid mutual interference between inspection drones. The positioning accuracy problem of the UWB positioning system can be effectively solved by the primary positioning of the UWB positioning system and the secondary positioning of the image system of the inspection drone, so that the deviation of the GIS operation data obtained by the inspection can be smaller, which is beneficial to the subsequent data processing and comparison, and the processing results are more accurate.

[0009] The problems existing in the prior art are:

[0010] 1. Some methods require the construction of a three-dimensional map for positioning, which is a cumbersome process and requires high investment in map construction;

[0011] 2. Some methods require the deployment of wireless positioning systems such as UWB to provide positioning for drones, which requires high deployment investment, and UWB positioning has metal occlusion drift, unstable positioning effect, and poor positioning accuracy;

[0012] 3. Some methods use QR codes for positioning, but QR codes are posted on the ground and equipment. The ground QR codes are easily blocked, which may cause positioning loss, equipment failure, and inability to inspect.

[0013] 4. The current inspection method only collects pictures, and does not perform algorithmic identification on the switch cabinet status.

[0014] Therefore, further improvements are made to the above problems. Summary of the invention

[0015] The main purpose of the present invention is to provide a label-guided UAV inspection system for substation switch rooms. The UAV, ground station and labels are linked together, the labels are attached to the switch cabinets, and then the UAVs are used to inspect one by one according to the label sequence and perform image acquisition. The ground station determines whether the status of the switch cabinet has changed by comparing historical data, and issues an alarm if there is a change.

[0016] To achieve the above objectives, the present invention provides a tag-guided substation switch room drone inspection system, which includes a drone, a ground station and a number of tags. The switch cabinets in the substation switch room are continuously distributed in a row and a unique matching label is attached to the shell of each switch cabinet. Each label has a unique identifiable number and serves as an inspection point of a switch cabinet. The drone inspection is specifically implemented as follows:

[0017] Step S1: Design the inspection route according to the order of the labels actually attached on site. Inspection needs to be carried out in the same direction (clockwise / counterclockwise), record the label numbers in order, and input the label number data into the ground station;

[0018] Step S2: The ground station controls the inspection drone according to the number data corresponding to the inspection points, so that the drone flies one by one in the order of the labels. When inspecting each switch cabinet, the drone collects images of the switch cabinet and transmits the collected image data to the ground station until the acquisition of a row of continuously distributed switch cabinets is completed;

[0019] Step S3: The ground station compares and analyzes the image data of each switch cabinet with the image data of the previous historical acquisition of the switch cabinet, so as to obtain the state change of the switch cabinet. If the state change reaches the alarm value, an alarm is issued, otherwise no alarm is issued.

[0020] As a further preferred technical solution of the above technical solution, the types of tags include QR Code and April Tag.

[0021] As a further preferred technical solution of the above technical solution, when the UAV initially flies, if there is no historically collected image data of the switch cabinet in the historical database of the ground station, comparative analysis will be started after the first image collection of all inspection points is completed.

[0022] As a further preferred technical solution of the above technical solution, the UAV sends its remaining power to the ground station in real time. The ground station determines whether the current remaining power can complete the remaining inspection work based on the historical power usage data. If yes, the UAV continues the inspection, otherwise it returns to the charging point for charging and sends another UAV to continue the inspection.

[0023] As a further preferred technical solution of the above technical solution, the drone identifies the label of the current switch cabinet before image acquisition, so as to determine whether the current switch cabinet is a sequential inspection point. If so, image acquisition is performed; otherwise, image acquisition is performed after finding the corresponding inspection point.

[0024] The beneficial effects of the present invention are:

[0025] 1. Compared with the prior art 1, the present invention has high inspection efficiency and does not require positioning through ground tags. Only the tags on the switch cabinet and the preset inspection direction and sequence control are required to achieve indoor positioning and movement, and the inspection speed is improved.

[0026] 2. Compared with the prior art 2, the present invention has low cost and low computing power consumption. It can achieve positioning without building an indoor three-dimensional map through computing power, and the tag positioning accuracy reaches 5 cm.

[0027] 3. Compared with the prior art 3, the present invention has low cost and high positioning accuracy, and can effectively avoid the problem of low positioning accuracy caused by wireless positioning drift.

[0028] 4. Compared with the prior arts 1, 2, and 3, the system of the present invention has the function of analyzing the state change of the switch cabinet. By comparing and analyzing the last collected image and the current collected image, the state change is obtained and an alarm is issued. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of a tag-guided UAV inspection system for a substation switch room according to the present invention. DETAILED DESCRIPTION

[0030] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0031] In the preferred embodiments of the present invention, those skilled in the art should note that the switch cabinet and drone involved in the present invention can be regarded as prior art.

[0032] Preferred embodiments.

[0033] The present invention discloses a tag-guided UAV inspection system for a substation switch room, comprising a UAV, a ground station and a plurality of tags. The switch cabinets in the substation switch room are continuously distributed in a row and a unique matching tag is affixed to the shell of each switch cabinet. Each tag has a unique identifiable number and serves as an inspection point of a switch cabinet. The UAV inspection is specifically implemented as follows:

[0034] Step S1: Design the inspection route according to the order of the labels actually attached on site. Inspection needs to be carried out in the same direction (clockwise / counterclockwise), record the label numbers in order, and input the label number data into the ground station;

[0035] Step S2: The ground station controls the inspection drone according to the number data corresponding to the inspection points, so that the drone flies one by one in the order of the labels. When inspecting each switch cabinet, the drone collects images of the switch cabinet and transmits the collected image data to the ground station until the acquisition of a row of continuously distributed switch cabinets is completed;

[0036] Step S3: The ground station compares and analyzes the image data of each switch cabinet with the image data of the previous historical acquisition of the switch cabinet, so as to obtain the state change of the switch cabinet. If the state change reaches the alarm value, an alarm is issued, otherwise no alarm is issued.

[0037] Specifically, the tag types include QRCode and AprilTag.

[0038] More specifically, when the UAV initially flies, there is no historically collected image data of the switch cabinet in the historical database of the ground station. After completing the first image collection of all inspection points, comparative analysis begins.

[0039] Furthermore, the drone sends its remaining power to the ground station in real time. The ground station determines whether the current remaining power can complete the remaining inspection work based on the historical power usage data. If yes, the drone continues the inspection. Otherwise, it returns to the charging point for charging and sends another drone to continue the inspection.

[0040] Furthermore, before collecting images, the drone identifies the label of the current switch cabinet to determine whether the current switch cabinet is a sequential inspection point. If so, image collection is performed; otherwise, image collection is performed after finding the corresponding inspection point.

[0041] It is worth mentioning that the technical features such as switch cabinets and drones involved in the patent application of this invention should be regarded as prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected according to the conventional selection in the field, and should not be regarded as the inventive point of the patent of this invention. The patent of this invention will not be further elaborated.

[0042] For those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tag-guided UAV inspection system for substation switch room, characterized in that: It includes a drone, a ground station and several tags. The switch cabinets in the substation switch room are arranged in a row and a unique matching tag is attached to the shell of each switch cabinet. Each tag has a unique identifiable number and serves as an inspection point of a switch cabinet. The drone inspection is specifically implemented as follows: Step S1: Design the inspection route according to the order of the labels actually affixed on site. Inspections need to be conducted in the same direction. The label numbers are recorded in order and the label number data is input into the ground station. Step S2: The ground station controls the inspection drone according to the number data corresponding to the inspection points, so that the drone flies one by one in the order of the labels. When inspecting each switch cabinet, the drone collects images of the switch cabinet and transmits the collected image data to the ground station until the acquisition of a row of continuously distributed switch cabinets is completed; Step S3: The ground station compares and analyzes the image data of each switch cabinet with the image data of the previous historical acquisition of the switch cabinet, so as to obtain the state change of the switch cabinet. If the state change reaches the alarm value, an alarm is issued, otherwise no alarm is issued.

2. According to the tag-guided UAV inspection system for substation switch room according to claim 1, it is characterized in that: The types of tags include QRCode and AprilTag.

3. According to claim 2, a tag-guided UAV inspection system for substation switch room is characterized in that: When the UAV initially flies, there is no historically collected image data of the switch cabinet in the historical database of the ground station. After completing the first image collection of all inspection points, comparative analysis will begin.

4. According to claim 3, a tag-guided UAV inspection system for substation switch room is characterized in that: The drone sends its remaining power to the ground station in real time. The ground station determines whether the current remaining power can complete the remaining inspection work based on the historical power usage data. If yes, the drone continues the inspection. Otherwise, it returns to the charging point for charging and sends another drone to continue the inspection.

5. The tag-guided UAV inspection system for substation switch room according to claim 4 is characterized in that: Before collecting images, the drone identifies the label of the current switch cabinet to determine whether the current switch cabinet is a sequential inspection point. If so, image collection is performed; otherwise, image collection is performed after finding the corresponding inspection point.

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